Maximilian, Apfelbeck and Kuß, Sebastian and Rebele, Bernhard and Schäfer, Bernd (2011) A systematic approach to reliably characterize soils based on Bevameter testing. Journal of Terramechanics, 48 (5), pp. 360-371. Elsevier. doi: 10.1016/j.jterra.2011.04.001. ISSN 0022-4898.
|
PDF
1MB |
Official URL: http://dx.doi.org/10.1016/j.jterra.2011.04.001
Abstract
Although a lot of information about soil parameter identification exists in literature, there is currently no algorithm who makes use both of state of the art identification methodologies and incorporating statistical analysis. In this paper a state of the art soil parameter identification method is presented including the calculation of its standard deviations and a proper weighting of the objective function. With this algorithm and a Bevameter with advanced sensor and actuator technology a test campaign is started to find a reliable soil prep- aration, which is applicable to a large planetary rover performance testbed. Furthermore, the preparation method has to be valid and stable for various types of dry, granular and frictional soils, typically used for planetary rover testing in space robotics, since the result of pre-tests show that the soil parameters are highly depending on the preparation. Besides preparation, the soil parameters are also influ- enced by different Bevameter test setup variables. Thus, the effect of the penetration velocity as well as the penetration tool geometry for pressure–sinkage tests on soil parameters is investigated. For shear tests the influence of the dimension of the shear ring is analysed as well as the variation of the grouser height, the number of the grousers and the increase of the rotational shear velocity. The results of the extensive test campaign are evaluated by the proposed identification algorithms.
Item URL in elib: | https://elib.dlr.de/69724/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Document Type: | Article | ||||||||||||||||||||
Title: | A systematic approach to reliably characterize soils based on Bevameter testing | ||||||||||||||||||||
Authors: |
| ||||||||||||||||||||
Date: | 5 October 2011 | ||||||||||||||||||||
Journal or Publication Title: | Journal of Terramechanics | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||
Volume: | 48 | ||||||||||||||||||||
DOI: | 10.1016/j.jterra.2011.04.001 | ||||||||||||||||||||
Page Range: | pp. 360-371 | ||||||||||||||||||||
Editors: |
| ||||||||||||||||||||
Publisher: | Elsevier | ||||||||||||||||||||
ISSN: | 0022-4898 | ||||||||||||||||||||
Status: | Published | ||||||||||||||||||||
Keywords: | Bevameter; Soil parameter; Testbed; Identi�cation; Planetary rover; Statistical analysis | ||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||||
HGF - Program: | Space (old) | ||||||||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Research area: | Space | ||||||||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Research theme (Project): | W - Leistungszentrum Robotik - Mobilität und Exploration (old) | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Apfelbeck, Maximilian | ||||||||||||||||||||
Deposited On: | 09 Dec 2011 11:56 | ||||||||||||||||||||
Last Modified: | 31 Jul 2019 19:31 |
Repository Staff Only: item control page